OpenRaiser/Intern-Atlas huggingface dataset:
DF-Mamba: Deformable State Space Modeling for 3D Hand Pose Estimation in Interactions
Venue: arXiv cs.CV 2025
Year: 2025

Modeling daily hand interactions often struggles with severe occlusions, such as when two hands overlap, which highlights the need for robust feature learning in 3D hand pose estimation (HPE). To handle such occluded hand images, it is vital to effectively learn the relationship between local image features (e.g., for occluded joints) and global context (e.g., cues from inter-joints, inter-hands, or the scene). However, most current 3D HPE methods still rely on ResNet for feature extraction, and such CNN's inductive bias may not be optimal for 3D HPE due to its limited capability to model the global context. To address this limitation, we propose an effective and efficient framework for visual feature extraction in 3D HPE using recent state space modeling (i.e., Mamba), dubbed Deformable Mamba (DF-Mamba). DF-Mamba is designed to capture global context cues beyond standard convolution through Mamba's selective state modeling and the proposed deformable state scanning. Specifically, for local features after convolution, our deformable scanning aggregates these features within an image while selectively preserving useful cues that represent the global context. This approach significantly improves the accuracy of structured 3D HPE, with comparable inference speed to ResNet-50. Our experiments involve extensive evaluations on five divergent datasets including single-hand and two-hand scenarios, hand-only and hand-object interactions, as well as RGB and depth-based estimation. DF-Mamba outperforms the latest image backbones, including VMamba and Spatial-Mamba, on all datasets and achieves state-of-the-art performance.
A Framework for Causal Concept-based Model Explanations
Venue: arXiv cs.AI 2025
Year: 2025

This work presents a conceptual framework for causal concept-based post-hoc Explainable Artificial Intelligence (XAI), based on the requirements that explanations for non-interpretable models should be understandable as well as faithful to the model being explained. Local and global explanations are generated by calculating the probability of sufficiency of concept interventions. Example explanations are presented, generated with a proof-of-concept model made to explain classifiers trained on the CelebA dataset. Understandability is demonstrated through a clear concept-based vocabulary, subject to an implicit causal interpretation. Fidelity is addressed by highlighting important framework assumptions, stressing that the context of explanation interpretation must align with the context of explanation generation.
Adversarial Jamming for Autoencoder Distribution Matching
Venue: arXiv cs.LG 2025
Year: 2025

We propose the use of adversarial wireless jamming to regularise the latent space of an autoencoder to match a diagonal Gaussian distribution. We consider the minimisation of a mean squared error distortion, where a jammer attempts to disrupt the recovery of a Gaussian source encoded and transmitted over the adversarial channel. A straightforward consequence of existing theoretical results is the fact that the saddle point of a minimax game - involving such an encoder, its corresponding decoder, and an adversarial jammer - consists of diagonal Gaussian noise output by the jammer. We use this result as inspiration for a novel approach to distribution matching in the latent space, utilising jamming as an auxiliary objective to encourage the aggregated latent posterior to match a diagonal Gaussian distribution. Using this new technique, we achieve distribution matching comparable to standard variational autoencoders and to Wasserstein autoencoders. This approach can also be generalised to other latent distributions.
Reasoning-Aware Multimodal Fusion for Hateful Video Detection
Venue: arXiv cs.CV 2025
Year: 2025

Hate speech in online videos is posing an increasingly serious threat to digital platforms, especially as video content becomes increasingly multimodal and context-dependent. Existing methods often struggle to effectively fuse the complex semantic relationships between modalities and lack the ability to understand nuanced hateful content. To address these issues, we propose an innovative Reasoning-Aware Multimodal Fusion (RAMF) framework. To tackle the first challenge, we design Local-Global Context Fusion (LGCF) to capture both local salient cues and global temporal structures, and propose Semantic Cross Attention (SCA) to enable fine-grained multimodal semantic interaction. To tackle the second challenge, we introduce adversarial reasoning-a structured three-stage process where a vision-language model generates (i) objective descriptions, (ii) hate-assumed inferences, and (iii) non-hate-assumed inferences-providing complementary semantic perspectives that enrich the model's contextual understanding of nuanced hateful intent. Evaluations on two real-world hateful video datasets demonstrate that our method achieves robust generalisation performance, improving upon state-of-the-art methods by 3% and 7% in Macro-F1 and hate class recall, respectively. We will release the code after the anonymity period ends.
TriLex: A Framework for Multilingual Sentiment Analysis in Low-Resource South African Languages
Venue: arXiv cs.CL 2025
Year: 2025

Low-resource African languages remain underrepresented in sentiment analysis, limiting both lexical coverage and the performance of multilingual Natural Language Processing (NLP) systems. This study proposes TriLex, a three-stage retrieval augmented framework that unifies corpus-based extraction, cross lingual mapping, and retrieval augmented generation (RAG) driven lexical refinement to systematically expand sentiment lexicons for low-resource languages. Using the enriched lexicon, the performance of two prominent African pretrained language models (AfroXLMR and AfriBERTa) is evaluated across multiple case studies. Results demonstrate that AfroXLMR delivers superior performance, achieving F1-scores above 80% for isiXhosa and isiZulu and exhibiting strong cross-lingual stability. Although AfriBERTa lacks pre-training on these target languages, it still achieves reliable F1-scores around 64%, validating its utility in computationally constrained settings. Both models outperform traditional machine learning baselines, and ensemble analyses further enhance precision and robustness. The findings establish TriLex as a scalable and effective framework for multilingual sentiment lexicon expansion and sentiment modeling in low-resource South African languages.
ISAC-Powered Distributed Matching and Resource Allocation in Multi-band NTN
Venue: arXiv cs.NI 2025
Year: 2025

Scalability is a major challenge in non-geostationary orbit (NGSO) satellite networks due to the massive number of ground users sharing the limited sub-6 GHz spectrum. Using K- and higher bands is a promising alternative to increase the accessible bandwidth, but these bands are subject to significant atmospheric attenuation, notably rainfall, which can lead to degraded performance and link outages. We present an integrated sensing and communications (ISAC)-powered framework for resilient and efficient operation of multi-band satellite networks. It is based on distributed mechanisms for atmospheric sensing, cell-to-satellite matching, and resource allocation (RA) in a 5G Non-Terrestrial Network (NTN) wide-area scenario with quasi-Earth fixed cells and a beam hopping mechanism. Results with a multi-layer multi-band constellation with satellites operating in the S- and K-bands demonstrate the benefits of our framework for ISAC-powered multi-band systems, which achieves 73% higher throughput per user when compared to single S- and K-band systems.
Humans incorrectly reject confident accusatory AI judgments
Venue: arXiv cs.HC 2025
Year: 2025

Automated verbal deception detection using methods from Artificial Intelligence (AI) has been shown to outperform humans in disentangling lies from truths. Research suggests that transparency and interpretability of computational methods tend to increase human acceptance of using AI to support decisions. However, the extent to which humans accept AI judgments for deception detection remains unclear. We experimentally examined how an AI model's accuracy (i.e., its overall performance in deception detection) and confidence (i.e., the model's uncertainty in single-statements predictions) influence human adoption of the model's judgments. Participants (n=373) were presented with veracity judgments of an AI model with high or low overall accuracy and various degrees of prediction confidence. The results showed that humans followed predictions from a highly accurate model more than from a less accurate one. Interestingly, the more confident the model, the more people deviated from it, especially if the model predicted deception. We also found that human interaction with algorithmic predictions either worsened the machine's performance or was ineffective. While this human aversion to accept highly confident algorithmic predictions was partly explained by participants' tendency to overestimate humans' deception detection abilities, we also discuss how truth-default theory and the social costs of accusing someone of lying help explain the findings.
SwarmDiffusion: End-To-End Traversability-Guided Diffusion for Embodiment-Agnostic Navigation of Heterogeneous Robots
Venue: arXiv cs.RO 2025
Year: 2025

Visual traversability estimation is critical for autonomous navigation, but existing VLM-based methods rely on hand-crafted prompts, generalize poorly across embodiments, and output only traversability maps, leaving trajectory generation to slow external planners. We propose SwarmDiffusion, a lightweight end-to-end diffusion model that jointly predicts traversability and generates a feasible trajectory from a single RGB image. To remove the need for annotated or planner-produced paths, we introduce a planner-free trajectory construction pipeline based on randomized waypoint sampling, Bezier smoothing, and regularization enforcing connectivity, safety, directionality, and path thinness. This enables learning stable motion priors without demonstrations. SwarmDiffusion leverages VLM-derived supervision without prompt engineering and conditions the diffusion process on a compact embodiment state, producing physically consistent, traversable paths that transfer across different robot platforms. Across indoor environments and two embodiments (quadruped and aerial), the method achieves 80-100% navigation success and 0.09s inference, and adapts to a new robot using only-500 additional visual samples. It generalizes reliably to unseen environments in simulation and real-world trials, offering a scalable, prompt-free approach to unified traversability reasoning and trajectory generation.
Taming Camera-Controlled Video Generation with Verifiable Geometry Reward
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in video diffusion models have remarkably improved camera-controlled video generation, but most methods rely solely on supervised fine-tuning (SFT), leaving online reinforcement learning (RL) post-training largely underexplored. In this work, we introduce an online RL post-training framework that optimizes a pretrained video generator for precise camera control. To make RL effective in this setting, we design a verifiable geometry reward that delivers dense segment-level feedback to guide model optimization. Specifically, we estimate the 3D camera trajectories for both generated and reference videos, divide each trajectory into short segments, and compute segment-wise relative poses. The reward function then compares each generated-reference segment pair and assigns an alignment score as the reward signal, which helps alleviate reward sparsity and improve optimization efficiency. Moreover, we construct a comprehensive dataset featuring diverse large-amplitude camera motions and scenes with varied subject dynamics. Extensive experiments show that our online RL post-training clearly outperforms SFT baselines across multiple aspects, including camera-control accuracy, geometric consistency, and visual quality, demonstrating its superiority in advancing camera-controlled video generation.
Polar Perspectives: Evaluating 2-D LiDAR Projections for Robust Place Recognition with Visual Foundation Models
Venue: arXiv cs.CV 2025
Year: 2025

This work presents a systematic investigation into how alternative LiDAR-to-image projections affect metric place recognition when coupled with a state-of-the-art vision foundation model. We introduce a modular retrieval pipeline that controls for backbone, aggregation, and evaluation protocol, thereby isolating the influence of the 2-D projection itself. Using consistent geometric and structural channels across multiple datasets and deployment scenarios, we identify the projection characteristics that most strongly determine discriminative power, robustness to environmental variation, and suitability for real-time autonomy. Experiments with different datasets, including integration into an operational place recognition policy, validate the practical relevance of these findings and demonstrate that carefully designed projections can serve as an effective surrogate for end-to-end 3-D learning in LiDAR place recognition.
VLA Models Are More Generalizable Than You Think: Revisiting Physical and Spatial Modeling
Venue: arXiv cs.RO 2025
Year: 2025

Vision-language-action (VLA) models achieve strong in-distribution performance but degrade sharply under novel camera viewpoints and visual perturbations. We show that this brittleness primarily arises from misalignment in Spatial Modeling, rather than Physical Modeling. To address this, we propose a one-shot adaptation framework that recalibrates visual representations through lightweight, learnable updates. Our first method, Feature Token Modulation (FTM), applies a global affine transformation to visual tokens and improves Libero viewpoint accuracy from 48.5% to 87.1% with only 4K parameters. Building on this, Feature Linear Adaptation (FLA) introduces low-rank updates to the ViT encoder, achieving 90.8% success with 4.7M parameters -- matching LoRA-scale finetuning at far lower cost. Together, these results reveal substantial untapped robustness in pretrained VLA models and demonstrate that targeted, minimal visual adaptation is sufficient to restore viewpoint generalization.
In Silico Development of Psychometric Scales: Feasibility of Representative Population Data Simulation with LLMs
Venue: arXiv cs.HC 2025
Year: 2025

Developing and validating psychometric scales requires large samples, multiple testing phases, and substantial resources. Recent advances in Large Language Models (LLMs) enable the generation of synthetic participant data by prompting models to answer items while impersonating individuals of specific demographic profiles, potentially allowing in silico piloting before real data collection. Across four preregistered studies (N = circa 300 each), we tested whether LLM-simulated datasets can reproduce the latent structures and measurement properties of human responses. In Studies 1-2, we compared LLM-generated data with real datasets for two validated scales; in Studies 3-4, we created new scales using EFA on simulated data and then examined whether these structures generalized to newly collected human samples. Simulated datasets replicated the intended factor structures in three of four studies and showed consistent configural and metric invariance, with scalar invariance achieved for the two newly developed scales. However, correlation-based tests revealed substantial differences between real and synthetic datasets, and notable discrepancies appeared in score distributions and variances. Thus, while LLMs capture group-level latent structures, they do not approximate individual-level data properties. Simulated datasets also showed full internal invariance across gender. Overall, LLM-generated data appear useful for early-stage, group-level psychometric prototyping, but not as substitutes for individual-level validation. We discuss methodological limitations, risks of bias and data pollution, and ethical considerations related to in silico psychometric simulations.
Learning Multimodal Embeddings for Traffic Accident Prediction and Causal Estimation
Venue: arXiv cs.LG 2025
Year: 2025

We consider analyzing traffic accident patterns using both road network data and satellite images aligned to road graph nodes. Previous work for predicting accident occurrences relies primarily on road network structural features while overlooking physical and environmental information from the road surface and its surroundings. In this work, we construct a large multimodal dataset across six U.S. states, containing nine million traffic accident records from official sources, and one million high-resolution satellite images for each node of the road network. Additionally, every node is annotated with features such as the region's weather statistics and road type (e.g., residential vs. motorway), and each edge is annotated with traffic volume information (i.e., Average Annual Daily Traffic). Utilizing this dataset, we conduct a comprehensive evaluation of multimodal learning methods that integrate both visual and network embeddings. Our findings show that integrating both data modalities improves prediction accuracy, achieving an average AUROC of $90.1\%$, which is a $3.7\%$ gain over graph neural network models that only utilize graph structures. With the improved embeddings, we conduct a causal analysis based on a matching estimator to estimate the key contributing factors influencing traffic accidents. We find that accident rates rise by $24\%$ under higher precipitation, by $22\%$ on higher-speed roads such as motorways, and by $29\%$ due to seasonal patterns, after adjusting for other confounding factors. Ablation studies confirm that satellite imagery features are essential for achieving accurate prediction.
BD-Index: Scalable Biharmonic Distance Queries on Large Graphs via Divide-and-Conquer Indexing
Venue: arXiv cs.DS 2025
Year: 2025

Biharmonic distance (\bd) is a powerful graph distance metric with many applications, including identifying critical links in road networks and mitigating over-squashing problem in \gnn. However, computing \bd\ is extremely difficult, especially on large graphs. In this paper, we focus on the problem of \emph{single-pair} \bd\ query. Existing methods mainly rely on random walk-based approaches, which work well on some graphs but become inefficient when the random walk cannot mix rapidly.To overcome this issue, we first show that the biharmonic distance between two nodes $s,t$, denoted by $b(s,t)$, can be interpreted as the distance between two random walk distributions starting from $s$ and $t$. To estimate these distributions, the required random walk length is large when the underlying graph can be easily cut into smaller pieces. Inspired by this observation, we present novel formulas of \bd to represent $b(s,t)$ by independent random walks within two node sets $\mathcal{V}_s$, $\mathcal{V}_t$ separated by a small \emph{cut set} $\mathcal{V}_{cut}$, where $\mathcal{V}_s\cup\mathcal{V}_t\cup\mathcal{V}_{cut}=\mathcal{V}$ is the set of graph nodes. Building upon this idea, we propose \bindex, a novel index structure which follows a divide-and-conquer strategy. The graph is first cut into pieces so that each part can be processed easily. Then, all the required random walk probabilities can be deterministically computed in a bottom-top manner. When a query comes, only a small part of the index needs to be accessed. We prove that \bindex\ requires $O(n\cdot h)$ space, can be built in $O(n\cdot h\cdot (h+d_{max}))$ time, and answers each query in $O(n\cdot h)$ time, where $h$ is the height of a hierarchy partition tree and $d_{max}$ is the maximum degree, which are both usually much smaller than $n$.
Experimental Characterization of Fingertip Trajectory following for a 3-DoF Series-Parallel Hybrid Robotic Finger
Venue: arXiv cs.RO 2025
Year: 2025

Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While task-space planning and control have been extensively studied for larger, arm-scale manipulators, demonstrations of precise task-space trajectory tracking in compact, multi-DoF robotic fingers remain scarce. In this paper, we present the physical prototyping and experimental characterization of a three-degree-of-freedom, linkage-driven, series-parallel robotic finger with analytic forward kinematics and a closed-form Jacobian. A resolved motion rate control (RMRC) scheme is implemented to achieve closed-loop task-space trajectory tracking. We experimentally evaluate the fingertip tracking performance across a variety of trajectories, including straight lines, circles, and more complex curves, and report millimeter-level accuracy. To the best of our knowledge, this work provides one of the first systematic experimental demonstrations of precise task-space trajectory tracking in a linkage-driven robotic finger, thereby establishing a benchmark for future designs aimed at dexterous in-hand manipulation.
InEx: Hallucination Mitigation via Introspection and Cross-Modal Multi-Agent Collaboration
Venue: arXiv cs.CV 2025
Year: 2025

Hallucination remains a critical challenge in large language models (LLMs), hindering the development of reliable multimodal LLMs (MLLMs). Existing solutions often rely on human intervention or underutilize the agent's ability to autonomously mitigate hallucination. To address these limitations, we draw inspiration from how humans make reliable decisions in the real world. They begin with introspective reasoning to reduce uncertainty and form an initial judgment, then rely on external verification from diverse perspectives to reach a final decision. Motivated by this cognitive paradigm, we propose InEx, a training-free, multi-agent framework designed to autonomously mitigate hallucination. InEx introduces internal introspective reasoning, guided by entropy-based uncertainty estimation, to improve the reliability of the decision agent's reasoning process. The agent first generates a response, which is then iteratively verified and refined through external cross-modal multi-agent collaboration with the editing agent and self-reflection agents, further enhancing reliability and mitigating hallucination. Extensive experiments show that InEx consistently outperforms existing methods, achieving 4%-27% gains on general and hallucination benchmarks, and demonstrating strong robustness.
Invasive Context Engineering to Control Large Language Models
Venue: arXiv cs.AI 2025
Year: 2025

Current research on operator control of Large Language Models improves model robustness against adversarial attacks and misbehavior by training on preference examples, prompting, and input/output filtering. Despite good results, LLMs remain susceptible to abuse, and jailbreak probability increases with context length. There is a need for robust LLM security guarantees in long-context situations. We propose control sentences inserted into the LLM context as invasive context engineering to partially solve the problem. We suggest this technique can be generalized to the Chain-of-Thought process to prevent scheming. Invasive Context Engineering does not rely on LLM training, avoiding data shortage pitfalls which arise in training models for long context situations.